NORD Drivesystems BU0060 - Manual (Page 56)

CANopen – Supplementary manual options for NORD - Frequency Inverters
56 BU 0060 GB-4112
4.3 The CANopen protocol
Object Index (OI) The OI contains all objects of the device. Objects depict the visible functionality. They
contain data, parameters or functions. Access is gained via SDOs. An object is
addressed via the Index (16 Bit) and the SubIndex (8Bit). The OI is divided into the
following areas:
0000h...1FFFh: Communication specific objects
2000h...5FFFh: Manufacturer-specific objects
6000h...9FFFh: Standardised device profile objects
A000h...FFFFh: Reserved
Service data obj.
(SDO) SDOs are used for confirmed transfer of data of any length between two network
subscribers: The SDO client is the initiating subscriber and has direct access to the OI
inputs of the SDO server (read and write). The SDO transfer is normally used for
parameterisation and service purposes.
Process data obj.
(PDO) PDOs are used for transferring process data. The process data can contain a maximum
of 8 bytes. Transfer is made without confirmation. The significance of the data
transferred is determined by the identifier and the set PDO mapping. A PDO always has
a producer (transmitter). Several consumers (receivers) may exist.
PDO mapping In objects 1600h-1603h / 1A00h..1A03h it is possible to set which objects
(setpoint/actual values) are transferred into the PDO telegrams.
Identifier Every CAN message has an 11 bit identifier. This identifier is used for addressing and
priority assignment.
CANopen defines a preset identifier assignment which facilitates communication
between a higher level device and up to 127 other devices. The 11 bit identifier is
broken down as follows:
10 8 8 7 6 5 4 3 2 1 0
Function code Node identifiers (1-127)
Object Function code Resulting COB-ID OI entry
NMT 0000 0
SYNC 0001 80h 1005h-1007h
Time stamp 0010 100h 1012h, 1013h
Emergency 0001 81h – FFh 1014h, 1015h
PDO1 (Tx) 0011 181h – 1FFh 1800h, 1A00h
PDO1 (Rx) 0100 201h – 27Fh 1400h, 1600h
PDO2 (Tx) 0101 281h – 2FFh 1801h, 1A01h
PDO2 (Rx) 0110 301h – 37Fh 1401h, 1601h
PDO3 (Tx) 0111 381h – 3FFh 1802h, 1A02h
PDO3 (Rx) 1000 401h – 47Fh 1403h, 1602h
PDO4 (Tx) 1001 481h – 4FFh 1803h, 1A03h
PDO4 (Rx) 1010 501h – 57Fh 1403h, 1603h
SDO (Tx) 1011 581h – 5FFh 1200h
SDO (Rx) 1100 601h – 67Fh 1200h
NMT Error Control 1110 701h – 77Fh 1016h, 1017h
Pos : 86 /Anl eitungen/ Elektroni k/ Bus s yst eme/4. Kommuni kati on und Prot okoll + Proz ess datentr ans fer /CAN open [ BU 0060]/D as C ANopen Pr ot okoll/N et z wer k M anag ement (NMT) [CAN open] @ 1\ mod_1342093966683_388. doc x @ 32048 @ 3 @ 1